Trajectory Planning in Dynamic Environment Based on Partially Map Updating Using Multi-robot System for an Intelligent Wheelchair

This paper presents a multi-robot system for an intelligent wheelchair. This system creates maps of the environment using SLAM (Simultaneous Localization And Mapping) algorithm and partially updates this maps around the planned trajectory after fixing the target by the user. Temporary obstacles like humans, animals, closed doors ... Are not considered in the updating process. An object recognition block is developed to classify detected objects before adding them to the map. Some experimental results are given in the paper to demonstrate the feasibility and performance of the developed system.